version: 66.04
glider: 5
mission: 5
dive: 400
start: 2 4 109 4 54 38
data:
$ID,5
$MISSION,5
$DIVE,400
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,52
$TGT_DEFAULT_LON,-7
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-95230.555
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,432
$PITCH_MAX,3760
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,13
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,360
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,390
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0016
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-23.610077
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043761111
$SEABIRD_T_H,0.00064345129
$SEABIRD_T_I,2.5632376e-05
$SEABIRD_T_J,2.7382036e-06
$SEABIRD_C_G,-10.188265
$SEABIRD_C_H,1.1432956
$SEABIRD_C_I,-0.00020702372
$SEABIRD_C_J,0.00012956691
$GPS1,044732,6044.098,-730.577,48,1.3,60,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-60.5
$GPS2,045419,6044.087,-730.823,15,1.3,15,-8.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,FBC_1
$TGT_LATLONG,6100.000,-735.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,-0.177
$KALMAN_X,220775.9,-921.1,-1644.0,-80717.6,25183.1
$KALMAN_Y,135954.9,-405.3,-1430.2,-453990.2,21805.5
$MHEAD_RNG_PITCHd_Wd,0.9,29708,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.97,-146.6,0.0,0.0,0,99,0.00,0.00,-81.28,0.000,2,0.000,0.000,422,1971,3048
$GC,103,-0.97,-146.6,3.3,-3.3,4,128,11.05,0.00,-11.20,0.000,6,0.135,0.000,2526,1983,3431
$GC,436,-0.85,-146.6,37.7,-10.3,20,441,0.15,2.53,0.00,0.000,4,0.091,0.063,2557,587,3430
$GC,469,-0.85,-146.6,41.6,-11.1,21,476,0.00,2.53,0.00,0.000,6,0.000,0.052,2557,2005,3431
$GC,786,-0.85,-146.6,65.1,-7.1,37,791,0.00,2.60,0.00,0.000,4,0.000,0.063,2557,584,3430
$GC,809,-0.85,-146.6,66.4,-5.3,38,813,0.00,2.50,0.00,0.000,6,0.000,0.052,2557,1987,3431
$GC,1130,-0.85,-146.6,93.8,-8.4,54,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2008,3431
$GC,1440,-0.85,-146.6,120.7,-8.1,69,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3431
$GC,1748,-0.85,-146.6,145.6,-8.5,84,1753,0.00,2.55,0.00,0.000,4,0.000,0.063,2557,3408,3431
$GC,1789,-0.85,-146.6,149.6,-10.4,86,1794,0.00,2.53,0.00,0.000,6,0.000,0.049,2557,1989,3431
$GC,2122,-0.85,-146.6,180.2,-8.4,102,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1989,3431
$GC,2430,-0.85,-146.6,203.8,-7.3,117,2435,0.00,2.60,0.00,0.000,4,0.000,0.061,2557,3416,3431
$GC,2464,-0.85,-146.6,206.3,-7.4,118,2470,0.00,2.53,0.00,0.000,6,0.000,0.050,2557,1999,3431
$GC,2780,-0.85,-146.6,229.5,-7.5,134,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1999,3431
$GC,3091,-0.85,-146.6,251.4,-7.2,149,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1999,3431
$GC,3398,-0.85,-146.6,277.6,-10.0,164,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1998,3431
$GC,3708,-0.85,-146.6,313.6,-11.6,179,3712,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,3409,3431
$GC,3780,-0.85,-146.6,321.8,-10.8,182,3784,0.00,2.53,0.00,0.000,6,0.000,0.052,2557,1995,3431
$GC,4098,-0.85,-146.6,350.0,-7.4,197,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1995,3431
$GC,4406,-0.85,-146.6,368.6,-6.2,212,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1995,3431
$GC,4714,-0.85,-146.6,391.3,-7.8,227,4719,0.00,2.58,0.00,0.000,4,0.000,0.064,2557,3405,3431
$GC,4792,-0.85,-146.6,397.7,-7.8,230,4799,0.00,2.50,0.00,0.000,6,0.000,0.051,2556,2000,3431
$GC,5110,-0.85,-146.6,419.3,-6.0,246,5114,0.00,2.60,0.00,0.000,4,0.000,0.065,2557,3412,3431
$GC,5154,-0.85,-146.6,421.6,-4.9,248,5159,0.00,2.53,0.00,0.000,6,0.000,0.054,2557,2004,3431
$GC,5476,-0.85,-146.6,428.6,-1.2,264,5480,0.00,2.58,0.00,0.000,4,0.000,0.065,2557,3412,3431
$GC,5527,-0.85,-146.6,429.8,-2.6,266,5531,0.00,2.50,0.00,0.000,6,0.000,0.054,2557,2020,3431
$GC,5843,-0.85,-146.6,449.5,-8.3,281,5851,0.00,2.58,0.00,0.000,4,0.000,0.069,2557,590,3431
$GC,5885,-0.85,-146.6,453.7,-9.9,282,5891,0.00,2.55,0.00,0.000,6,0.000,0.055,2557,2019,3431
$GC,6201,-0.85,-146.6,480.3,-7.7,298,6206,0.00,2.62,0.00,0.000,4,0.000,0.067,2557,582,3431
$GC,6286,-0.85,-146.6,486.4,-7.2,302,6291,0.00,2.53,0.00,0.000,6,0.000,0.056,2557,1997,3431
$GC,6614,-0.85,-146.6,509.3,-7.4,318,6619,0.00,2.58,0.00,0.000,4,0.000,0.069,2557,592,3430
$GC,6699,-0.85,-146.6,516.4,-9.0,322,6704,0.00,2.50,0.00,0.000,6,0.000,0.056,2557,1989,3430
$GC,7026,-0.85,-146.6,544.6,-8.9,338,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1990,3430
$GC,7336,-0.85,-146.6,570.7,-7.9,353,7341,0.00,2.58,0.00,0.000,4,0.000,0.072,2557,593,3429
$GC,7376,-0.85,-146.6,573.8,-7.5,355,7381,0.00,2.50,0.00,0.000,6,0.000,0.059,2557,1983,3429
$GC,7704,-0.85,-146.6,588.3,-3.7,371,7708,0.00,2.60,0.00,0.000,4,0.000,0.074,2557,3412,3429
$GC,7739,-0.90,-146.6,590.0,-4.8,372,7745,0.00,2.60,0.00,0.000,6,0.000,0.062,2557,1986,3429
$GC,8055,-0.90,-146.6,604.6,-5.6,388,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1986,3429
$GC,8364,-0.90,-146.6,627.3,-7.7,403,8368,0.00,2.65,0.00,0.000,4,0.000,0.074,2557,3407,3428
$GC,8392,-0.95,-146.6,629.6,-8.2,404,8397,0.00,2.60,0.00,0.000,6,0.000,0.064,2557,1988,3428
$GC,8708,-0.95,-146.6,652.5,-6.7,419,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1987,3427
$GC,9018,-0.95,-146.6,671.2,-5.7,434,9023,0.00,2.67,0.00,0.000,4,0.000,0.078,2557,3412,3426
$GC,9052,-1.02,-146.6,673.3,-5.2,435,9060,0.17,2.60,0.00,0.000,6,0.067,0.067,2515,1993,3426
$GC,9369,-0.95,-146.6,694.4,-6.4,451,9374,0.10,2.67,0.00,0.000,4,0.105,0.082,2534,3405,3425
$GC,9403,-0.95,-146.6,696.6,-6.3,452,9409,0.00,2.60,0.00,0.000,6,0.000,0.071,2534,2004,3425
$GC,9719,-0.95,-146.6,716.2,-6.8,468,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2003,3424
$GC,10028,-0.95,-146.6,737.3,-6.6,483,10032,0.00,2.67,0.00,0.000,4,0.000,0.087,2534,3405,3423
$GC,10077,-0.95,-146.6,741.1,-7.7,485,10081,0.00,2.60,0.00,0.000,6,0.000,0.074,2534,2014,3423
$GC,10393,-0.95,-146.6,763.7,-7.2,500,10394,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2014,3423
$GC,10702,-0.95,-146.6,783.7,-6.2,515,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2014,3420
$GC,11012,-0.95,-146.6,802.7,-6.4,530,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2014,3420
$GC,11320,-0.95,-146.6,823.4,-6.9,545,11322,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2015,3419
$GC,11630,-0.95,-146.6,843.3,-6.3,560,11634,0.00,2.65,0.00,0.000,4,0.000,0.087,2534,3402,3418
$GC,11663,-0.95,-146.6,845.6,-6.5,561,11670,0.00,2.60,0.00,0.000,6,0.000,0.075,2534,2015,3417
$GC,11979,-0.95,-146.6,867.1,-7.4,577,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2014,3417
$GC,12288,-0.95,-146.6,889.8,-7.2,592,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2015,3415
$GC,12598,-0.95,-146.6,912.2,-7.2,607,12603,0.00,2.67,0.00,0.000,4,0.000,0.090,2534,3408,3415
$GC,12638,-0.95,-146.6,915.3,-7.7,609,12642,0.00,2.60,0.00,0.000,6,0.000,0.078,2533,2024,3415
$GC,12964,-0.95,-146.6,938.5,-6.7,625,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2023,3414
$STATE,12983,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12983,begin apogee
$GC,12991,-0.33,0.0,940.1,6.9,626,13129,0.68,0.00,135.20,1.591,6,0.095,0.000,2671,2126,2832
$STATE,13130,end apogee,CONTROL_FINISHED_OK
$STATE,13130,begin climb
$GC,13133,0.97,146.6,943.1,0.0,633,13282,1.33,2.88,138.90,1.531,4,0.074,0.087,2950,714,2234
$GC,13359,0.77,146.6,928.3,8.0,643,13364,0.20,2.67,0.00,0.000,6,0.100,0.076,2913,2121,2234
$GC,13675,0.71,146.6,910.1,6.3,658,13679,0.00,2.70,0.00,0.000,4,0.000,0.088,2913,3536,2234
$GC,13709,0.64,146.6,907.9,6.9,659,13716,0.15,2.70,0.00,0.000,6,0.106,0.078,2884,2118,2234
$GC,14025,0.69,177.4,891.3,5.2,675,14057,0.00,0.00,29.80,1.482,6,0.000,0.000,2884,2119,2108
$GC,14355,0.79,204.4,873.9,5.3,691,14384,0.15,0.00,26.77,1.473,6,0.067,0.000,2919,2118,1998
$GC,14684,0.79,205.8,852.2,6.0,707,14686,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2118,1998
$GC,14992,0.79,205.8,833.3,6.6,722,14994,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2119,1998
$GC,15302,0.79,205.8,813.5,7.1,737,15306,0.00,2.75,0.00,0.000,4,0.000,0.089,2919,3541,1998
$GC,15330,0.79,205.8,811.5,6.6,738,15334,0.00,2.67,0.00,0.000,6,0.000,0.077,2919,2133,1998
$GC,15645,0.79,205.8,792.0,6.1,753,15646,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2132,1998
$GC,15955,0.81,219.1,773.6,5.6,768,15974,0.00,0.00,15.38,1.413,6,0.000,0.000,2919,2133,1938
$GC,16285,0.81,219.1,751.7,7.1,784,16286,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2133,1938
$GC,16593,0.81,219.1,730.2,6.9,799,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2133,1938
$GC,16902,0.81,219.1,710.2,6.2,814,16904,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2133,1938
$GC,17212,0.81,219.1,690.8,6.4,829,17217,0.00,2.67,0.00,0.000,4,0.000,0.090,2919,710,1938
$GC,17245,0.81,219.1,688.6,7.1,830,17252,0.00,2.67,0.00,0.000,6,0.000,0.076,2919,2143,1938
$GC,17561,0.81,219.1,667.9,7.1,846,17566,0.00,2.65,0.00,0.000,4,0.000,0.088,2919,3541,1938
$GC,17584,0.81,219.1,666.2,7.4,847,17589,0.00,2.65,0.00,0.000,6,0.000,0.075,2919,2137,1938
$GC,17905,0.82,227.1,645.8,5.8,863,17916,0.00,0.00,8.80,1.265,6,0.000,0.000,2919,2137,1906
$GC,18215,0.84,236.7,628.2,5.7,878,18227,0.00,0.00,10.70,1.289,6,0.000,0.000,2919,2136,1867
$GC,18524,0.84,236.7,609.1,7.0,893,18529,0.00,2.70,0.00,0.000,4,0.000,0.088,2919,703,1866
$GC,18551,0.84,236.7,606.8,8.7,894,18556,0.00,2.67,0.00,0.000,6,0.000,0.074,2919,2127,1866
$GC,18869,0.84,236.7,583.7,7.8,909,18870,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2127,1866
$GC,19177,0.84,236.7,558.7,6.9,924,19178,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2127,1866
$GC,19485,0.84,236.7,539.1,6.7,939,19490,0.00,2.67,0.00,0.000,4,0.000,0.080,2919,709,1866
$GC,19554,0.84,236.7,533.4,9.2,942,19558,0.00,2.60,0.00,0.000,6,0.000,0.068,2919,2116,1866
$GC,19876,0.84,236.7,505.3,8.8,958,19877,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2117,1867
$GC,20184,0.84,236.7,482.3,6.8,973,20188,0.00,2.62,0.00,0.000,4,0.000,0.074,2919,703,1866
$GC,20228,0.84,236.7,479.0,6.5,975,20232,0.00,2.58,0.00,0.000,6,0.000,0.063,2919,2112,1866
$GC,20550,0.88,236.7,459.0,6.5,991,20555,0.00,2.60,0.00,0.000,4,0.000,0.071,2919,3536,1867
$GC,20578,0.92,236.7,456.9,6.9,992,20584,0.10,2.62,0.00,0.000,6,0.066,0.058,2947,2094,1866
$GC,20895,0.87,236.7,432.1,8.3,1007,20897,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2095,1867
$GC,21203,0.87,236.7,407.4,8.0,1022,21208,0.00,2.65,0.00,0.000,4,0.000,0.066,2947,3531,1869
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$STATE,26461,begin surface coast
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